Yaskawa MP2000 - Manual (Page 17)

MP2000 Quick Reference Guide Rev1.21
Function Block Specification / Reserved Data Area Access １／４
MW30149 2 = Stopped Motion
0 = Trapezoid;
0 = reserved for power off situation
002 Ratio Tech Unit Nom
004
030
003 Feedback Polarity
Scale Factor
006
031 Axis State
Ramp Shape
- Switch or Command ML30100 RDA#003,#026,#027,#029,#035
Conversion from technical units to increments: nominator
1 = ErrorStopped Motion
1 = S-Shape; rest supplier dependent
-
Feedback from position sensor. direction 1 = positive
RDA# Datas Name M-Register
001 Conversion from technical units to increments: denominator Ratio Tech Unit Denom MW30102
Detail
Length of Period for rotational systems. [count]
005 0: Rotary; 1: Linear Movement Type
Position Period
ML30106
008 Actual position. [count]
007 Commanded position. [count] Set Position
Act Position ML30108
ML30110
010 Commanded velocity. [count/sec]
009 Maximum velocity. [count/sec] Max Velocity
Set Velocity ML30112
ML30114
012 Set Acceleration Commanded acceleration. [count/sec2]
011 Act Velocity Actual acceleration. [count/sec2 ML30116
ML30118
014 Max Acceleration Maximum acceleration. [count/sec2]
013 Act Acceleration Actual acceleration. [count/sec2] ML30120
ML30122
016 Act Deceleration Actual deceleration. [count/sec2]
015 Set Deceleration Commanded deceleration. [count/sec2] ML30124
ML30126
018 Set S-Curve Filter Commanded S-Curve Filter [ms] (S curve time)
017 Max Deceleration Maximum deceleration. [count/sec2] ML30128
ML30130
020 Max S-Curve Filter Maximum S-Curve filter [ms] (S curve time)
019 Act S-Curve Filter Actual S-Curve Filter [ms] (S curve time) ML30132
ML30134
MW30103
MB301000
MW30104
MW30105
022 Max Torque ML30138 Maximum Torque [0.01% of rated torque]
021 Act Torque ML30136 Actual Torque [0.01% of rated torque]
024 SW Limit Positive ML30142 Position software limit switch in positive direction.
023 Limit Torque ML30140 Maximum user defined Torque [0.01% of rated torque]
026 SW Limit Enable MB301001 Enable Software end switches
025 SW Limit Negative ML30144 Position software limit switch in negative direction
028 Capt Position ML30146 Capture position [count]
027 HW Limit Enable MB301002 Enable / disable hardware end switch (to be used after overtravel)
Shape of Acc/Dec profile.
029 Capture Occured MB301003 Capture signal occurred (reset with writing)
MW30148
032 Factor P - P-factor of position loop [0.1/s]
State of the Axis
4 = Discrete motion
3 = Standstill
5 = Continuous motion
034 Factor D - D-factor of position loop
033 Factor I - I-factor of position loop [ms]
035 Regulator Off MB301004 TRUE= regulator off
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